design of control systems in state space

Ngày tải lên: 01/01/2014, 18:43

... o(1)) |E| k k! q − ( k 2 ) , completing the proof of Theorem 1.2. Acknowledgments The research is performed during the authors visit at the Erwin Schrăodinger International Institute for Mathematical ... journal of combinatorics 15 (2008), #N32 4 On the number of orthogonal systems in vector spaces over finite fields Le Anh Vinh Mathematics Department Harvard University Cambridge, MA 02138, US vinh@math.harvard.edu Submitted: ... result. 1 Introduction A classical set of problems in combinatorial geometry deals with the question of whether a sufficiently large subset of d , d or d q contains a given geometric configuration. In a...

Ngày tải lên: 07/08/2014, 15:22

... Linearization of LPNI Systems 20 3 Analysis of Reference Tracking in LPNI Systems 66 4 Analysis of Disturbance Rejection in LPNI Systems 114 5 Design of Reference Tracking Controllers for LPNI Systems ... arguments lead to a class of systems that we refer to as Linear Plant/Nonlinear Instrumentation (LPNI). The controllers in feedback systems are often designed to be linear. The main design techniques ... the book is outlined. 1.1 Linear Plant/Nonlinear Instrumentation Systems and Quasilinear Control Every control system contains nonlinear instrumentation – actuators and sensors. Indeed, the actuators...

Ngày tải lên: 23/03/2014, 15:20

... France British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and signal processing) 1. Robots - Control systems 2. Manipulators ... Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre, ... focus on control in joint space, totally skipping task space and end-effector space based control. These topics are addressed in a number of texts elsewhere. The present book opens with an introductory...

Ngày tải lên: 27/06/2014, 14:20

... everlasting love, respect and admiration. –AL Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems ... focus on control in joint space, totally skipping task space and end-effector space based control. These topics are addressed in a number of texts elsewhere. The present book opens with an introductory ... subsumed into the prevailing subject paradigm. Sometimes these innovative concepts coalesce into a new sub-discipline within the broad subject tapestry of control and signal processing. This preliminary...

Ngày tải lên: 27/06/2014, 18:20

... Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, Graham Hills Building, ... Cybernetics, ã International Journal of Adaptive Control and Signal Processing, ã International Journal of Control, ã Systems and Control Letters. 3 Until June 2004 only. Advanced Textbooks in Control ... trajectory is simply a point in the workspace (which may be translated under appropriate conditions into a point in the joint space) . The position control problem consists in driving the manipulator’s...

Ngày tải lên: 09/08/2014, 07:20

... m 2 l 1 )g sin(q 1 )+m 2 gl c2 sin(q 1 + q 2 ) g 2 (q)=m 2 gl c2 sin(q 1 + q 2 ) . Consider PD control. In view of the presence of g(q), in general the origin  ˜ q T ˙ q T  T = 0 ∈ IR 4 of the closed-loop ... Miyazaki F., Arimoto S., 1988, “Is a local linear PD feedback control law effective for trajectory tracking of robot motion?”, in Proceed- ings of the 1988 IEEE International Conference on Robotics and ... k v ˙ ˜q + mgl sin(q) where k p and k v are positive constants. a) Obtain the closed-loop equation in terms of the state vector  ˜q ˙ ˜q  T . Is this equation linear in the state ? b) Assume...

Ngày tải lên: 09/08/2014, 07:20

... based controllers is that the stability theory of linear systems is far more developed than that of nonlinear systems. In particular, the tuning of the gains of such controllers is trivial since ... the control system in closed loop should also be composed of nonlinear functions of the corresponding state variables. This intuition is confirmed for the case of all the control laws studied in ... Computed-torque+ control. Computed-torque control allows one to obtain a linear closed-loop equation in terms of the state variables. This fact has no precedent in the study of the controllers studied in this...

Ngày tải lên: 09/08/2014, 07:20

... Parameterization of the Dynamic Model 317 masses, inertias and distances of the centers of mass of the links but rather, it is linear in terms of the dynamic parameters θ which in general, are nonlinear functions ... stability of the origin of the closed-loop system, was first solved for one-degree -of- freedom robots (including a term that is quadratic in the velocities) in ã Lora A., 1996, Global tracking control of ... Also reported in The International Journal of Robotics Research, Vol. 6, No. 2, Summer 1987, pp. 16–28. A key step in the study of this controller, and by the way, also in that of the succeeding controllers...

Ngày tải lên: 09/08/2014, 07:20

... (A.15) ≥  {t i }  t i +δ t i f(τ) 2 dτ . (A.16) C Proofs of Some Properties of the Dynamic Model Proof of Property 4.1.3 The proof of the inequality (4.2) follows straightforward invoking Corollary A.1. This is possible ... gravity compensation. 174 PD control with gravity compensation 168 PD plus feedforward control 273 PD+ control . . . 252 PID control 218 408 C Proofs of Some Properties of the Dynamic Model Proof of Property ... Lischinsky P., 1995, “A new model for control of systems with friction”, IEEE Transactions on Automatic Control, Vol. 40, No. 3, March, pp. 419–425. An interesting paper dealing with the problem of...

Ngày tải lên: 09/08/2014, 07:20

... number of joints of a manipulator determines also its number of degrees of freedom (DOF ). Typically, a manip- ulator possesses 6 DOF, among which 3 determine the position of the end of the last link ... France British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and signal processing) 1. Robots - Control systems 2. Manipulators ... Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre,...

Ngày tải lên: 10/08/2014, 01:23

... measurement noise. In robot control we are often interested in studying the performance of controllers, considering any initial configuration for the robot. For this, we need to study global definitions of stability. Definition ... Cybernetics, ã International Journal of Adaptive Control and Signal Processing, ã International Journal of Control, ã Systems and Control Letters. 3 Until June 2004 only. 22 2 Mathematical Preliminaries = ⎡ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣  p k=1 a 1k b k1  p k=1 a 1k b k2 ···  p k=1 a 1k b kn  p k=1 a 2k b k1  p k=1 a 2k b k2 ···  p k=1 a 2k b kn . . . . . . . . . . . .  p k=1 a mk b k1  p k=1 a mk b k2 ···  p k=1 a mk b kn ⎤ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ . It ... subsection by observing that some authors speak about “sta- bility of systems or “stability of systems at an equilibrium” instead of “sta- bility of equilibria (or the origin)”. For instance the phrase...

Ngày tải lên: 10/08/2014, 01:23

... = ⎡ ⎢ ⎣ x 1 x 2 . . . x m ⎤ ⎥ ⎦ q 2 z 0 x 0 y 0 joint 2 link 1 joint 1 link 2 joint n link n Figure 3.1. Abstract diagram of an n-DOF robot manipulator Consider the generic configuration of an articulated arm of n links shown in Figure 3.1. In ... composed of links connected by joints. The joints are mainly of two types: revolute and prismatic. In this textbook we consider robot manipulators formed by an open kinematic chain as illustrated in ... obtained by evaluating the time derivative of the positions x 2 and y 2 of the center of mass of link 2, i.e. x 2 = l 1 cos(q 1 )+l c2 cos(q 2 − δ) y 2 = l 1 sin(q 1 )+l c2 sin(q 2 − δ) . Using...

Ngày tải lên: 10/08/2014, 01:23

... design controllers and to analyze the stability, in the sense of Lyapunov, of the equilibria of the closed-loop system. In anticipation of the material in later chapters of this text and in support ... feedback control of industrial robots with elastic joints: a singular perturbation approach”, 1st IFAC Symp. Robot Control, pp. 1116, Barcelona, Spain. ã Spong M., 1987, Modeling and control of elastic ... =0 max q |C 2 22 (q)| =0. Hence, considering (4.8) we obtain k C 1 =4m 2 l 1 l c2 . ♦ The reader interested in the proof of Inequality (4.5) is invited to see Appendix C. 96 4 Properties of the Dynamic Model closely...

Ngày tải lên: 10/08/2014, 01:23

... coor- dinates and we measure joint coordinates. This is what is called control in joint space . Thus, we leave the topic of kinematics to pass to the stage of modeling that is more relevant for control, ... of mass (Link 2) l c2 0.0229 m Mass of Link 1 m 1 6.5225 kg Mass of Link 2 m 2 2.0458 kg Inertia rel. to center of mass (Link 1) I 1 0.1213 kg m 2 Inertia rel. to center of mass (Link 2) I 2 0.0116 ... in Cartesian coordinates, is called differential kinematics. This topic is not studied in more detail in this textbook since we do not use it for control. 5.2 Inverse Kinematics The inverse kinematic...

Ngày tải lên: 10/08/2014, 01:23

Ngày tải lên: 10/08/2014, 01:23

Ngày tải lên: 10/08/2014, 01:23

Ngày tải lên: 10/08/2014, 01:23

Ngày tải lên: 10/08/2014, 01:23

Ngày tải lên: 10/08/2014, 01:23